今日もどっこい生きている: [SunSPOT]IO制御

SunSPOTのIOポートを利用します．
モーターを回します．
２台のSunSPOT端末を利用します．

１台は，SunSPOT端末で，Z軸の傾きをもう一台のSunSPOT端末に送信します．

受信側では，Z軸がプラス方向の場合は，モーターを正回転，マイナス方向の場合には，逆回転させます．

[送信側SunSpotIOSender.java]

import com.sun.spot.sensorboard.EDemoBoard;
import com.sun.spot.io.j2me.radiogram.*;
import com.sun.spot.sensorboard.peripheral.IAccelerometer3D;
import com.sun.spot.sensorboard.peripheral.ITriColorLED;
import com.sun.spot.sensorboard.peripheral.LEDColor;

import javax.microedition.io.*;
import javax.microedition.midlet.MIDlet;
import javax.microedition.midlet.MIDletStateChangeException;

public class SunSpotIOSender extends MIDlet {

private static final int HOST_PORT = 67;
private final int CENTER = 0;
private final int FORWARD = 1;
private final int BACK = -1;
private final double THRESHOLD = 0.6;
private final int NUM = 30;

protected void startApp() throws MIDletStateChangeException {
RadiogramConnection rCon = null;
Datagram dg = null;
double z;

IAccelerometer3D accelerometer = EDemoBoard.getInstance().getAccelerometer();
ITriColorLED[] leds = EDemoBoard.getInstance().getLEDs();

try {
rCon = (RadiogramConnection) Connector.open("radiogram://broadcast:" + HOST_PORT);
dg = rCon.newDatagram(50);  // only sending 12 bytes of data
} catch (Exception e) {
System.err.println("Caught " + e + " in connection initialization.");
System.exit(1);
}

int[] Zdirects = new int[NUM];
int point = 0;
int Ztransmit = CENTER;

while (true) {
try {
z = accelerometer.getTiltZ();

// Z軸判定
if(point == NUM) point = 0;
if(z > THRESHOLD){
Zdirects[point] = FORWARD;
} else if(z < -1 * THRESHOLD){
Zdirects[point] = BACK;
} else {
Zdirects[point] = CENTER;
}
point++;

if(isSameValues(Zdirects)){
if(Zdirects[0] != Ztransmit){
dg.reset();
Ztransmit = Zdirects[0];
dg.writeDouble(Ztransmit);
rCon.send(dg);
if(Ztransmit == FORWARD){
setLEDGreen(leds);
} else if(Ztransmit == BACK){
setLEDRed(leds);
} else {
setLEDOFF(leds);
}
}
}
} catch (Exception e) {
System.err.println("Caught " + e + " while collecting/sending sensor sample.");
}
}
}

private void setLEDRed(ITriColorLED[] leds){
for(int i = 0; 0 < leds.length; i++){
leds[i].setColor(LEDColor.RED);
leds[i].setOn();
}
}

private void setLEDGreen(ITriColorLED[] leds){
for(int i = 0; 0 < leds.length; i++){
leds[i].setColor(LEDColor.GREEN);
leds[i].setOn();
}
}

private void setLEDOFF(ITriColorLED[] leds){
for(int i = 0; 0 < leds.length; i++){
leds[i].setOff();
}
}

private boolean isSameValues(int data[]){
int start = data[0];

for(int i = 1; i < data.length; i++){
if(start != data[i])
return false;
}
return true;
}

protected void pauseApp() {
// This will never be called by the Squawk VM
}

protected void destroyApp(boolean arg0) throws MIDletStateChangeException {
// Only called if startApp throws any exception other than MIDletStateChangeException
}
}

[受信側 SunSpotIOReceiver.java]

import com.sun.spot.sensorboard.EDemoBoard;
import com.sun.spot.sensorboard.IDemoBoard;
import com.sun.spot.io.j2me.radiogram.*;
import com.sun.spot.sensorboard.peripheral.ITriColorLED;
import com.sun.spot.sensorboard.peripheral.LEDColor;
import com.sun.spot.sensorboard.io.IIOPin;

import javax.microedition.io.*;
import javax.microedition.midlet.MIDlet;
import javax.microedition.midlet.MIDletStateChangeException;

public class SunSpotIOReceiver extends MIDlet {

private static final int HOST_PORT = 67; 
private final int FORWARD = 1;
private final int BACK = -1;

protected void startApp() throws MIDletStateChangeException {
RadiogramConnection rCon = null;
Datagram dg = null;
double Zdirect;

try {
// Open up a server-side broadcast radiogram connection
// to listen for sensor readings being sent by different SPOTs
rCon = (RadiogramConnection) Connector.open("radiogram://:" + HOST_PORT);
dg = rCon.newDatagram(rCon.getMaximumLength());
} catch (Exception e) {
System.err.println("setUp caught " + e.getMessage());
}

// "eDemo"ボードの参照を取得
IDemoBoard eDemo = EDemoBoard.getInstance();

// 汎用入出力ポート(D0)にアクセスするための参照を取得
IIOPin pin0 = eDemo.getIOPins()[EDemoBoard.D0];
IIOPin pin3 = eDemo.getIOPins()[EDemoBoard.D3];
pin0.setAsOutput(true);
pin3.setAsOutput(true);

// eDemoボード上のLEDにアクセスするための参照を取得
ITriColorLED[] leds = eDemo.getLEDs();

while (true) {
try {
// Read sensor sample received over the radio
rCon.receive(dg);
Zdirect = dg.readDouble();

// Zについて
if(Zdirect == FORWARD){
pin0.setHigh();
pin3.setLow();
setLEDGreen(leds);
} else if(Zdirect == BACK){
pin0.setLow();
pin3.setHigh();
setLEDRed(leds);

} else {
pin0.setLow();
pin3.setLow();
setLEDOFF(leds);
}
} catch (Exception e) {
System.err.println("Caught " + e +  " while reading sensor samples.");
}
}
}

private void setLEDRed(ITriColorLED[] leds){
for(int i = 0; 0 < leds.length; i++){
leds[i].setColor(LEDColor.RED);
leds[i].setOn();
}
}

private void setLEDGreen(ITriColorLED[] leds){
for(int i = 0; 0 < leds.length; i++){
leds[i].setColor(LEDColor.GREEN);
leds[i].setOn();
}
}

private void setLEDOFF(ITriColorLED[] leds){
for(int i = 0; 0 < leds.length; i++){
leds[i].setOff();
}
}

protected void pauseApp() {
// This will never be called by the Squawk VM
}

protected void destroyApp(boolean arg0) throws MIDletStateChangeException {
// Only called if startApp throws any exception other than MIDletStateChangeException
}
}

実行結果